南京农业大学鲁植雄教授等:基于牵引阻力区间划分的拖拉机变综合度力位综合耕深控制方法
- 2026-04-10 04:45:23
孙晓旭1，宋悦1，王琳2，鲁植雄1*，钱进1，王陶3
(1. 南京农业大学工学院，南京210031，中国；
2. 国家智能农机装备领域技术创新中心，洛阳470139，河南，中国；
3.南京工业大学应急管理学院，南京201009，中国)
摘要：针对拖拉机电液悬挂系统采用固定综合度系数的力位综合耕深控制方法难以适应土壤条件变化较大的工作环境的问题，该研究提出一种可变综合度系数的拖拉机力位综合耕深控制方法。设计了基于牵引阻力的综合度系数调控方案并阐明其工作原理。针对耕深控制系统的时变特性，设计了基于微分观测器的滑模控制耕深控制算法。
为验证控制方案的性能，搭建了控制系统仿真模型与台架试验平台，并与综合度系数固定为0.5的力位综合控制方法进行性能对比。结果表明：可变综合度系数耕深控制方法能根据土壤条件变化自动调节综合度系数，具有更高的牵引效率；在阻力较小范围内能更好地保证作业质量，在阻力较大范围内可保证发动机性能并防止拖拉机受损。该方法对复杂田间作业环境具有更强的适应性，可为耕深控制方法研究提供参考。
关键词：拖拉机；变综合度系数；力位综合耕深控制；牵引阻力
DOI: 10.25165/j.ijabe.20251806.9394
引用信息: Sun X X, Song Y, Wang L, Lu Z X, Qian J, Wang T. Variable comprehensive coefficient draft-position integrated tillage depth control method of tractor based on traction resistance interval division. Int J Agric & Biol Eng, 2025; 18(6): 66–74.
Comparative analysis of continuous cropping tolerance and nutrient status of three types of sweet potatoes
Xiaoxu Sun1, Yue Song1, Lin Wang2, Zhixiong Lu1*, Jin Qian1, Tao Wang3
(1. College of Engineering, Nanjing Agricultural University, Nanjing 210031, China;
2. State Key Laboratory of Intelligent Agricultural Power Equipment, Luoyang 470139, China;
3. College of Emergency Management, Nanjing Tech University, Nanjing 201009, China)
Abstract: Aiming at the problem that the draft-position integrated tillage depth control method with fixed comprehensive coefficient of tractor electro-hydraulic hitch system is difficult to adapt to the working environment with large changes in soil conditions, a tractor draft-position integrated tillage depth control method with variable comprehensive coefficient was proposed. A comprehensive coefficient control scheme based on traction resistance was designed and its working principle was clarified. Aiming at the time-varying tillage depth control system, a tillage depth control algorithm based on the sliding mode control with a differential observer was designed. In order to verify the performance of the control scheme, a control system simulation model and a bench test platform were built, and the performance was compared with the draft-position integrated control method with a fixed comprehensive coefficient of 0.5. The results showed that the variable comprehensive coefficient tillage depth control method can automatically adjust the comprehensive coefficient according to the change of soil conditions, and has higher traction efficiency. In the small resistance range, it can better ensure the quality of operation; in the large resistance range, it can ensure the engine performance and protect the tractor from damage. This method is more adaptable to the complex field operation environment, which provides a reference for the research of tillage depth control method.
Keywords: tractor, variable comprehensive coefficient, draft-position integrated tillage depth control, traction resistance
DOI: 10.25165/j.ijabe.20251806.9394
Citation:Sun X X, Song Y, Wang L, Lu Z X, Qian J, Wang T. Variable comprehensive coefficient draft-position integrated tillage depth control method of tractor based on traction resistance interval division. Int J Agric & Biol Eng, 2025; 18(6): 66–74.
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